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<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
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<div class="title">pcl::octree::PointCoding&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1octree_1_1_point_coding.html" title="PointCoding class">PointCoding</a></b> class  
 <a href="classpcl_1_1octree_1_1_point_coding.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="point__coding_8h_source.html">point_coding.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a0161e68dd81ecdc9821939df5f9bdd73"><td class="memItemLeft" align="right" valign="top"><a id="a0161e68dd81ecdc9821939df5f9bdd73"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#a0161e68dd81ecdc9821939df5f9bdd73">PointCoding</a> ()</td></tr>
<tr class="memdesc:a0161e68dd81ecdc9821939df5f9bdd73"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a0161e68dd81ecdc9821939df5f9bdd73"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e04cd6d6b7a082742e749751c59f003"><td class="memItemLeft" align="right" valign="top"><a id="a8e04cd6d6b7a082742e749751c59f003"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#a8e04cd6d6b7a082742e749751c59f003">~PointCoding</a> ()</td></tr>
<tr class="memdesc:a8e04cd6d6b7a082742e749751c59f003"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty class constructor. <br /></td></tr>
<tr class="separator:a8e04cd6d6b7a082742e749751c59f003"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adc08f54d6fa3d0d011dfe23844bd5ffb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#adc08f54d6fa3d0d011dfe23844bd5ffb">setPrecision</a> (float precision_arg)</td></tr>
<tr class="memdesc:adc08f54d6fa3d0d011dfe23844bd5ffb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Define precision of point information  <a href="classpcl_1_1octree_1_1_point_coding.html#adc08f54d6fa3d0d011dfe23844bd5ffb">更多...</a><br /></td></tr>
<tr class="separator:adc08f54d6fa3d0d011dfe23844bd5ffb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a413a6e798eab425484bd6e3554ac781e"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#a413a6e798eab425484bd6e3554ac781e">getPrecision</a> ()</td></tr>
<tr class="memdesc:a413a6e798eab425484bd6e3554ac781e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieve precision of point information  <a href="classpcl_1_1octree_1_1_point_coding.html#a413a6e798eab425484bd6e3554ac781e">更多...</a><br /></td></tr>
<tr class="separator:a413a6e798eab425484bd6e3554ac781e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab060975b8f073cafe3162c6df671ec52"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#ab060975b8f073cafe3162c6df671ec52">setPointCount</a> (unsigned int pointCount_arg)</td></tr>
<tr class="memdesc:ab060975b8f073cafe3162c6df671ec52"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set amount of points within point cloud to be encoded and reserve memory  <a href="classpcl_1_1octree_1_1_point_coding.html#ab060975b8f073cafe3162c6df671ec52">更多...</a><br /></td></tr>
<tr class="separator:ab060975b8f073cafe3162c6df671ec52"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a07f8409110ccf95dc956bd3fa66ce2d5"><td class="memItemLeft" align="right" valign="top"><a id="a07f8409110ccf95dc956bd3fa66ce2d5"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#a07f8409110ccf95dc956bd3fa66ce2d5">initializeEncoding</a> ()</td></tr>
<tr class="memdesc:a07f8409110ccf95dc956bd3fa66ce2d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize encoding of differential point <br /></td></tr>
<tr class="separator:a07f8409110ccf95dc956bd3fa66ce2d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a301c00a268534360e3b99493b3e05477"><td class="memItemLeft" align="right" valign="top"><a id="a301c00a268534360e3b99493b3e05477"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#a301c00a268534360e3b99493b3e05477">initializeDecoding</a> ()</td></tr>
<tr class="memdesc:a301c00a268534360e3b99493b3e05477"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize decoding of differential point <br /></td></tr>
<tr class="separator:a301c00a268534360e3b99493b3e05477"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b7fee0f682b1ad1a6652694090614f1"><td class="memItemLeft" align="right" valign="top"><a id="a2b7fee0f682b1ad1a6652694090614f1"></a>
std::vector&lt; char &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#a2b7fee0f682b1ad1a6652694090614f1">getDifferentialDataVector</a> ()</td></tr>
<tr class="memdesc:a2b7fee0f682b1ad1a6652694090614f1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get reference to vector containing differential color data <br /></td></tr>
<tr class="separator:a2b7fee0f682b1ad1a6652694090614f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a231c7d289e73e3c920639c853a600758"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#a231c7d289e73e3c920639c853a600758">encodePoints</a> (const typename std::vector&lt; int &gt; &amp;indexVector_arg, const double *referencePoint_arg, PointCloudConstPtr inputCloud_arg)</td></tr>
<tr class="memdesc:a231c7d289e73e3c920639c853a600758"><td class="mdescLeft">&#160;</td><td class="mdescRight">Encode differential point information for a subset of points from point cloud  <a href="classpcl_1_1octree_1_1_point_coding.html#a231c7d289e73e3c920639c853a600758">更多...</a><br /></td></tr>
<tr class="separator:a231c7d289e73e3c920639c853a600758"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abb223cd5e0748e82b09e366cc3c019d5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#abb223cd5e0748e82b09e366cc3c019d5">decodePoints</a> (PointCloudPtr outputCloud_arg, const double *referencePoint_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg)</td></tr>
<tr class="memdesc:abb223cd5e0748e82b09e366cc3c019d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Decode differential point information  <a href="classpcl_1_1octree_1_1_point_coding.html#abb223cd5e0748e82b09e366cc3c019d5">更多...</a><br /></td></tr>
<tr class="separator:abb223cd5e0748e82b09e366cc3c019d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:ab53ffd903e4f3d404d721b208c16463a"><td class="memItemLeft" align="right" valign="top"><a id="ab53ffd903e4f3d404d721b208c16463a"></a>
PointCloudPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#ab53ffd903e4f3d404d721b208c16463a">output_</a></td></tr>
<tr class="memdesc:ab53ffd903e4f3d404d721b208c16463a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pointer to output point cloud dataset. <br /></td></tr>
<tr class="separator:ab53ffd903e4f3d404d721b208c16463a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08c506e4d96db0b3877b1fcfe5ff9140"><td class="memItemLeft" align="right" valign="top"><a id="a08c506e4d96db0b3877b1fcfe5ff9140"></a>
std::vector&lt; char &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a></td></tr>
<tr class="memdesc:a08c506e4d96db0b3877b1fcfe5ff9140"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector for storing differential point information <br  />
 <br /></td></tr>
<tr class="separator:a08c506e4d96db0b3877b1fcfe5ff9140"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab23948d3c52a60920b407fbd9fca5d66"><td class="memItemLeft" align="right" valign="top"><a id="ab23948d3c52a60920b407fbd9fca5d66"></a>
std::vector&lt; char &gt;::const_iterator&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">pointDiffDataVectorIterator_</a></td></tr>
<tr class="memdesc:ab23948d3c52a60920b407fbd9fca5d66"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterator on differential point information vector <br /></td></tr>
<tr class="separator:ab23948d3c52a60920b407fbd9fca5d66"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a181174a3f1046e3045206fd38bfba007"><td class="memItemLeft" align="right" valign="top"><a id="a181174a3f1046e3045206fd38bfba007"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a></td></tr>
<tr class="memdesc:a181174a3f1046e3045206fd38bfba007"><td class="mdescLeft">&#160;</td><td class="mdescRight">Precision of point coding <br /></td></tr>
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Private 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:a7567430fe42e4f5d9fd4e42f86603511"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac920256a31624d6e3db20d2fd4e034fc"><td class="memItemLeft" align="right" valign="top"><a id="ac920256a31624d6e3db20d2fd4e034fc"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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<tr class="memitem:aa38933a672086ff8480823fa529cdb35"><td class="memItemLeft" align="right" valign="top"><a id="aa38933a672086ff8480823fa529cdb35"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:aa38933a672086ff8480823fa529cdb35"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::octree::PointCoding&lt; PointT &gt;</h3>

<p><b><a class="el" href="classpcl_1_1octree_1_1_point_coding.html" title="PointCoding class">PointCoding</a></b> class </p>
<dl class="section note"><dt>注解</dt><dd>This class encodes 8-bit differential point information for octree-based point cloud compression. </dd>
<dd>
typename: PointT: type of point used in pointcloud </dd></dl>
<dl class="section author"><dt>作者</dt><dd>Julius Kammerl (<a href="#" onclick="location.href='mai'+'lto:'+'jul'+'iu'+'s@k'+'am'+'mer'+'l.'+'de'; return false;">juliu<span style="display: none;">.nosp@m.</span>s@ka<span style="display: none;">.nosp@m.</span>mmerl<span style="display: none;">.nosp@m.</span>.de</a>) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="abb223cd5e0748e82b09e366cc3c019d5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abb223cd5e0748e82b09e366cc3c019d5">&#9670;&nbsp;</a></span>decodePoints()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_point_coding.html">pcl::octree::PointCoding</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::decodePoints </td>
          <td>(</td>
          <td class="paramtype">PointCloudPtr&#160;</td>
          <td class="paramname"><em>outputCloud_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double *&#160;</td>
          <td class="paramname"><em>referencePoint_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::size_t&#160;</td>
          <td class="paramname"><em>beginIdx_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::size_t&#160;</td>
          <td class="paramname"><em>endIdx_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Decode differential point information </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">outputCloud_arg</td><td>output point cloud </td></tr>
    <tr><td class="paramname">referencePoint_arg</td><td>coordinates of reference point </td></tr>
    <tr><td class="paramname">beginIdx_arg</td><td>index indicating first point to be assiged with color information </td></tr>
    <tr><td class="paramname">endIdx_arg</td><td>index indicating last point to be assiged with color information </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          std::size_t i;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pointCount;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          assert (beginIdx_arg &lt;= endIdx_arg);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          pointCount = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (endIdx_arg - beginIdx_arg);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          <span class="comment">// iterate over points within current voxel</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; pointCount; i++)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;            <span class="comment">// retrieve differential point information</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>&amp; diffX = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (*(<a class="code" href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">pointDiffDataVectorIterator_</a>++));</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>&amp; diffY = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (*(<a class="code" href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">pointDiffDataVectorIterator_</a>++));</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>&amp; diffZ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (*(<a class="code" href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">pointDiffDataVectorIterator_</a>++));</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            <span class="comment">// retrieve point from point cloud</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = outputCloud_arg-&gt;points[beginIdx_arg + i];</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            <span class="comment">// decode point position</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            point.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (referencePoint_arg[0] + diffX * <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            point.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (referencePoint_arg[1] + diffY * <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            point.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (referencePoint_arg[2] + diffZ * <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_a181174a3f1046e3045206fd38bfba007"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pcl::octree::PointCoding::pointCompressionResolution_</a></div><div class="ttdeci">float pointCompressionResolution_</div><div class="ttdoc">Precision of point coding</div><div class="ttdef"><b>Definition:</b> point_coding.h:208</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_ab23948d3c52a60920b407fbd9fca5d66"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#ab23948d3c52a60920b407fbd9fca5d66">pcl::octree::PointCoding::pointDiffDataVectorIterator_</a></div><div class="ttdeci">std::vector&lt; char &gt;::const_iterator pointDiffDataVectorIterator_</div><div class="ttdoc">Iterator on differential point information vector</div><div class="ttdef"><b>Definition:</b> point_coding.h:205</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a231c7d289e73e3c920639c853a600758">&#9670;&nbsp;</a></span>encodePoints()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_point_coding.html">pcl::octree::PointCoding</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::encodePoints </td>
          <td>(</td>
          <td class="paramtype">const typename std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indexVector_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double *&#160;</td>
          <td class="paramname"><em>referencePoint_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">PointCloudConstPtr&#160;</td>
          <td class="paramname"><em>inputCloud_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Encode differential point information for a subset of points from point cloud </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">indexVector_arg</td><td>indices defining a subset of points from points cloud </td></tr>
    <tr><td class="paramname">referencePoint_arg</td><td>coordinates of reference point </td></tr>
    <tr><td class="paramname">inputCloud_arg</td><td>input point cloud </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          std::size_t i, len;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          len = indexVector_arg.size ();</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;          <span class="comment">// iterate over points within current voxel</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; len; i++)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> diffX, diffY, diffZ;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;            <span class="comment">// retrieve point from cloud</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; idx = indexVector_arg[i];</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;            <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; idxPoint = inputCloud_arg-&gt;points[idx];</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            <span class="comment">// differentially encode point coordinates and truncate overflow</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            diffX = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (max (-127, min&lt;int&gt;(127, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((idxPoint.x - referencePoint_arg[0])  / <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>))));</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            diffY = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (max (-127, min&lt;int&gt;(127, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((idxPoint.y - referencePoint_arg[1])  / <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>))));</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            diffZ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (max (-127, min&lt;int&gt;(127, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> ((idxPoint.z - referencePoint_arg[2])  / <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>))));</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;            <span class="comment">// store information in differential point vector</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a>.push_back (diffX);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a>.push_back (diffY);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a>.push_back (diffZ);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_point_coding_html_a08c506e4d96db0b3877b1fcfe5ff9140"><div class="ttname"><a href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pcl::octree::PointCoding::pointDiffDataVector_</a></div><div class="ttdeci">std::vector&lt; char &gt; pointDiffDataVector_</div><div class="ttdoc">Vector for storing differential point information</div><div class="ttdef"><b>Definition:</b> point_coding.h:202</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a413a6e798eab425484bd6e3554ac781e">&#9670;&nbsp;</a></span>getPrecision()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">float <a class="el" href="classpcl_1_1octree_1_1_point_coding.html">pcl::octree::PointCoding</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getPrecision </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Retrieve precision of point information </p>
<dl class="section return"><dt>返回</dt><dd>precision </dd></dl>
<div class="fragment"><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a>);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab060975b8f073cafe3162c6df671ec52">&#9670;&nbsp;</a></span>setPointCount()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_point_coding.html">pcl::octree::PointCoding</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setPointCount </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>pointCount_arg</em></td><td>)</td>
          <td></td>
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<p>Set amount of points within point cloud to be encoded and reserve memory </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">pointCount_arg</td><td>amounts of points within point cloud </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a08c506e4d96db0b3877b1fcfe5ff9140">pointDiffDataVector_</a>.reserve (pointCount_arg * 3);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#adc08f54d6fa3d0d011dfe23844bd5ffb">&#9670;&nbsp;</a></span>setPrecision()</h2>

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<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
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      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_point_coding.html">pcl::octree::PointCoding</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::setPrecision </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>precision_arg</em></td><td>)</td>
          <td></td>
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<p>Define precision of point information </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">precision_arg</td><td>precision </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_point_coding.html#a181174a3f1046e3045206fd38bfba007">pointCompressionResolution_</a> = precision_arg;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>io/include/pcl/compression/<a class="el" href="point__coding_8h_source.html">point_coding.h</a></li>
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